OpenRaiser/Intern-Atlas huggingface dataset:
Cross-Modal Entity Matching for Visually Rich Documents
Venue: arXiv cs.LG 2024
Year: 2024

Visually rich documents (e.g. leaflets, banners, magazine articles) are physical or digital documents that utilize visual cues to augment their semantics. Information contained in these documents are ad-hoc and often incomplete. Existing works that enable structured querying on these documents do not take this into account. This makes it difficult to contextualize the information retrieved from querying these documents and gather actionable insights from them. We propose Juno -- a cross-modal entity matching framework to address this limitation. It augments heterogeneous documents with supplementary information by matching a text span in the document with semantically similar tuples from an external database. Our main contribution in this is a deep neural network with attention that goes beyond traditional keyword-based matching and finds matching tuples by aligning text spans and relational tuples on a multimodal encoding space without any prior knowledge about the document type or the underlying schema. Exhaustive experiments on multiple real-world datasets show that Juno generalizes to heterogeneous documents with diverse layouts and formats. It outperforms state-of-the-art baselines by more than 6 F1 points with up to 60% less human-labeled samples. Our experiments further show that Juno is a computationally robust framework. We can train it only once, and then adapt it dynamically for multiple resource-constrained environments without sacrificing its downstream performance. This makes it suitable for on-device deployment in various edge-devices. To the best of our knowledge, ours is the first work that investigates the information incompleteness of visually rich documents and proposes a generalizable, performant and computationally robust framework to address it in an end-to-end way.
Learning to Detect Slip through Tactile Estimation of the Contact Force Field and its Entropy
Venue: arXiv cs.RO 2024
Year: 2024

Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of proficiency comparable to humans, especially in consistently handling and manipulating unfamiliar objects, integrating artificial tactile sensing is increasingly essential. We introduce a novel physics-informed, data-driven approach to detect slip continuously in real time. We employ the GelSight Mini, an optical tactile sensor, attached to custom-designed grippers to gather tactile data. Our work leverages the inhomogeneity of tactile sensor readings during slip events to develop distinctive features and formulates slip detection as a classification problem. To evaluate our approach, we test multiple data-driven models on 10 common objects under different loading conditions, textures, and materials. Our results show that the best classification algorithm achieves a high average accuracy of 95.61%. We further illustrate the practical application of our research in dynamic robotic manipulation tasks, where our real-time slip detection and prevention algorithm is implemented.
Self-Supervised Depth Correction of Lidar Measurements from Map Consistency Loss
Venue: arXiv cs.RO 2024
Year: 2024

Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still suffer from bias related to local surface properties such as measuring beam-to-surface incidence angle, distance, texture, reflectance, or illumination conditions. This fact has recently motivated researchers to exploit traditional filters, as well as the deep learning paradigm, in order to suppress the aforementioned depth sensors error while preserving geometric and map consistency details. Despite the effort, depth correction of lidar measurements is still an open challenge mainly due to the lack of clean 3D data that could be used as ground truth. In this paper, we introduce two novel point cloud map consistency losses, which facilitate self-supervised learning on real data of lidar depth correction models. Specifically, the models exploit multiple point cloud measurements of the same scene from different view-points in order to learn to reduce the bias based on the constructed map consistency signal. Complementary to the removal of the bias from the measurements, we demonstrate that the depth correction models help to reduce localization drift. Additionally, we release a data set that contains point cloud data captured in an indoor corridor environment with precise localization and ground truth mapping information.
Synthetic Data: Methods, Use Cases, and Risks
Venue: arXiv cs.CR 2024
Year: 2024

Sharing data can often enable compelling applications and analytics. However, more often than not, valuable datasets contain information of a sensitive nature, and thus, sharing them can endanger the privacy of users and organizations. A possible alternative gaining momentum in both the research community and industry is to share synthetic data instead. The idea is to release artificially generated datasets that resemble the actual data -- more precisely, having similar statistical properties. In this article, we provide a gentle introduction to synthetic data and discuss its use cases, the privacy challenges that are still unaddressed, and its inherent limitations as an effective privacy-enhancing technology.
Subset-Based Instance Optimality in Private Estimation
Venue: arXiv cs.LG 2024
Year: 2024

We propose a new definition of instance optimality for differentially private estimation algorithms. Our definition requires an optimal algorithm to compete, simultaneously for every dataset $D$, with the best private benchmark algorithm that (a) knows $D$ in advance and (b) is evaluated by its worst-case performance on large subsets of $D$. That is, the benchmark algorithm need not perform well when potentially extreme points are added to $D$; it only has to handle the removal of a small number of real data points that already exist. This makes our benchmark significantly stronger than those proposed in prior work. We nevertheless show, for real-valued datasets, how to construct private algorithms that achieve our notion of instance optimality when estimating a broad class of dataset properties, including means, quantiles, and $\ell_p$-norm minimizers. For means in particular, we provide a detailed analysis and show that our algorithm simultaneously matches or exceeds the asymptotic performance of existing algorithms under a range of distributional assumptions.
Fine-Tuned Convex Approximations of Probabilistic Reachable Sets under Data-driven Uncertainties
Venue: arXiv cs.RO 2024
Year: 2024

This paper proposes a mechanism to fine-tune convex approximations of probabilistic reachable sets (PRS) of uncertain dynamic systems. We consider the case of unbounded uncertainties, for which it may be impossible to find a bounded reachable set of the system. Instead, we turn to find a PRS that bounds system states with high confidence. Our data-driven approach builds on a kernel density estimator (KDE) accelerated by a fast Fourier transform (FFT), which is customized to model the uncertainties and obtain the PRS efficiently. However, the non-convex shape of the PRS can make it impractical for subsequent optimal designs. Motivated by this, we formulate a mixed integer nonlinear programming (MINLP) problem whose solution result is an optimal $n$ sided convex polygon that approximates the PRS. Leveraging this formulation, we propose a heuristic algorithm to find this convex set efficiently while ensuring accuracy. The algorithm is tested on comprehensive case studies that demonstrate its near-optimality, accuracy, efficiency, and robustness. The benefits of this work pave the way for promising applications to safety-critical, real-time motion planning of uncertain dynamic systems.
Active Learning and Bayesian Optimization: a Unified Perspective to Learn with a Goal
Venue: arXiv cs.LG 2024
Year: 2024

Science and Engineering applications are typically associated with expensive optimization problems to identify optimal design solutions and states of the system of interest. Bayesian optimization and active learning compute surrogate models through efficient adaptive sampling schemes to assist and accelerate this search task toward a given optimization goal. Both those methodologies are driven by specific infill/learning criteria which quantify the utility with respect to the set goal of evaluating the objective function for unknown combinations of optimization variables. While the two fields have seen an exponential growth in popularity in the past decades, their dualism and synergy have received relatively little attention to date. This paper discusses and formalizes the synergy between Bayesian optimization and active learning as symbiotic adaptive sampling methodologies driven by common principles. In particular, we demonstrate this unified perspective through the formalization of the analogy between the Bayesian infill criteria and active learning criteria as driving principles of both the goal-driven procedures. To support our original perspective, we propose a general classification of adaptive sampling techniques to highlight similarities and differences between the vast families of adaptive sampling, active learning, and Bayesian optimization. Accordingly, the synergy is demonstrated mapping the Bayesian infill criteria with the active learning criteria, and is formalized for searches informed by both a single information source and multiple levels of fidelity. In addition, we provide guidelines to apply those learning criteria investigating the performance of different Bayesian schemes for a variety of benchmark problems to highlight benefits and limitations over mathematical properties that characterize real-world applications.
Causal Deep Learning
Venue: arXiv cs.LG 2024
Year: 2024

Causality has the potential to truly transform the way we solve a large number of real-world problems. Yet, so far, its potential largely remains to be unlocked as causality often requires crucial assumptions which cannot be tested in practice. To address this challenge, we propose a new way of thinking about causality -- we call this causal deep learning. Our causal deep learning framework spans three dimensions: (1) a structural dimension, which incorporates partial yet testable causal knowledge rather than assuming either complete or no causal knowledge among the variables of interest; (2) a parametric dimension, which encompasses parametric forms that capture the type of relationships among the variables of interest; and (3) a temporal dimension, which captures exposure times or how the variables of interest interact (possibly causally) over time. Causal deep learning enables us to make progress on a variety of real-world problems by leveraging partial causal knowledge (including independencies among variables) and quantitatively characterising causal relationships among variables of interest (possibly over time). Our framework clearly identifies which assumptions are testable and which ones are not, such that the resulting solutions can be judiciously adopted in practice. Using our formulation we can combine or chain together causal representations to solve specific problems without losing track of which assumptions are required to build these solutions, pushing real-world impact in healthcare, economics and business, environmental sciences and education, through causal deep learning.
Neural Operator Learning for Long-Time Integration in Dynamical Systems with Recurrent Neural Networks
Venue: arXiv cs.LG 2024
Year: 2024

Deep neural networks are an attractive alternative for simulating complex dynamical systems, as in comparison to traditional scientific computing methods, they offer reduced computational costs during inference and can be trained directly from observational data. Existing methods, however, cannot extrapolate accurately and are prone to error accumulation in long-time integration. Herein, we address this issue by combining neural operators with recurrent neural networks, learning the operator mapping, while offering a recurrent structure to capture temporal dependencies. The integrated framework is shown to stabilize the solution and reduce error accumulation for both interpolation and extrapolation of the Korteweg-de Vries equation.
Hierarchical Training of Deep Neural Networks Using Early Exiting
Venue: arXiv cs.CV 2024
Year: 2024

Deep neural networks provide state-of-the-art accuracy for vision tasks but they require significant resources for training. Thus, they are trained on cloud servers far from the edge devices that acquire the data. This issue increases communication cost, runtime and privacy concerns. In this study, a novel hierarchical training method for deep neural networks is proposed that uses early exits in a divided architecture between edge and cloud workers to reduce the communication cost, training runtime and privacy concerns. The method proposes a brand-new use case for early exits to separate the backward pass of neural networks between the edge and the cloud during the training phase. We address the issues of most available methods that due to the sequential nature of the training phase, cannot train the levels of hierarchy simultaneously or they do it with the cost of compromising privacy. In contrast, our method can use both edge and cloud workers simultaneously, does not share the raw input data with the cloud and does not require communication during the backward pass. Several simulations and on-device experiments for different neural network architectures demonstrate the effectiveness of this method. It is shown that the proposed method reduces the training runtime for VGG-16 and ResNet-18 architectures by 29% and 61% in CIFAR-10 classification and by 25% and 81% in Tiny ImageNet classification when the communication with the cloud is done over a low bit rate channel. This gain in the runtime is achieved whilst the accuracy drop is negligible. This method is advantageous for online learning of high-accuracy deep neural networks on sensor-holding low-resource devices such as mobile phones or robots as a part of an edge-cloud system, making them more flexible in facing new tasks and classes of data.
Improved Exploration for Safety-Embedded Differential Dynamic Programming Using Tolerant Barrier States
Venue: arXiv cs.RO 2024
Year: 2024

In this paper, we introduce Tolerant Discrete Barrier States (T-DBaS), a novel safety-embedding technique for trajectory optimization with enhanced exploratory capabilities. The proposed approach generalizes the standard discrete barrier state (DBaS) method by accommodating temporary constraint violation during the optimization process while still approximating its safety guarantees. Consequently, the proposed approach eliminates the DBaS's safe nominal trajectories assumption, while enhancing its exploration effectiveness for escaping local minima. Towards applying T-DBaS to safety-critical autonomous robotics, we combine it with Differential Dynamic Programming (DDP), leading to the proposed safe trajectory optimization method T-DBaS-DDP, which inherits the convergence and scalability properties of the solver. The effectiveness of the T-DBaS algorithm is verified on differential drive robot and quadrotor simulations. In addition, we compare against the classical DBaS-DDP as well as Augmented-Lagrangian DDP (AL-DDP) in extensive numerical comparisons that demonstrate the proposed method's competitive advantages. Finally, the applicability of the proposed approach is verified through hardware experiments on the Georgia Tech Robotarium platform.
A Perspective on Crowdsourcing and Human-in-the-Loop Workflows in Precision Health
Venue: arXiv cs.HC 2024
Year: 2024

Modern machine learning approaches have led to performant diagnostic models for a variety of health conditions. Several machine learning approaches, such as decision trees and deep neural networks, can, in principle, approximate any function. However, this power can be considered to be both a gift and a curse, as the propensity toward overfitting is magnified when the input data are heterogeneous and high dimensional and the output class is highly nonlinear. This issue can especially plague diagnostic systems that predict behavioral and psychiatric conditions that are diagnosed with subjective criteria. An emerging solution to this issue is crowdsourcing, where crowd workers are paid to annotate complex behavioral features in return for monetary compensation or a gamified experience. These labels can then be used to derive a diagnosis, either directly or by using the labels as inputs to a diagnostic machine learning model. This viewpoint describes existing work in this emerging field and discusses ongoing challenges and opportunities with crowd-powered diagnostic systems, a nascent field of study. With the correct considerations, the addition of crowdsourcing to human-in-the-loop machine learning workflows for the prediction of complex and nuanced health conditions can accelerate screening, diagnostics, and ultimately access to care.
Completion of Matrices with Low Description Complexity
Venue: arXiv cs.IT 2024
Year: 2024

We propose a theory for matrix completion that goes beyond the low-rank structure commonly considered in the literature and applies to general matrices of low description complexity. Specifically, complexity of the sets of matrices encompassed by the theory is measured in terms of Hausdorff and upper Minkowski dimensions. Our goal is the characterization of the number of linear measurements, with an emphasis on rank-$1$ measurements, needed for the existence of an algorithm that yields reconstruction, either perfect, with probability 1, or with arbitrarily small probability of error, depending on the setup. Concretely, we show that matrices taken from a set $\mathcal{U}$ such that $\mathcal{U}-\mathcal{U}$ has Hausdorff dimension $s$ can be recovered from $k>s$ measurements, and random matrices supported on a set $\mathcal{U}$ of Hausdorff dimension $s$ can be recovered with probability 1 from $k>s$ measurements. What is more, we establish the existence of recovery mappings that are robust against additive perturbations or noise in the measurements. Concretely, we show that there are $β$-Hölder continuous mappings recovering matrices taken from a set of upper Minkowski dimension $s$ from $k>2s/(1-β)$ measurements and, with arbitrarily small probability of error, random matrices supported on a set of upper Minkowski dimension $s$ from $k>s/(1-β)$ measurements. The numerous concrete examples we consider include low-rank matrices, sparse matrices, QR decompositions with sparse R-components, and matrices of fractal nature.
Deep Learning for Inertial Positioning: A Survey
Venue: arXiv cs.RO 2024
Year: 2024

Inertial sensors are widely utilized in smartphones, drones, robots, and IoT devices, playing a crucial role in enabling ubiquitous and reliable localization. Inertial sensor-based positioning is essential in various applications, including personal navigation, location-based security, and human-device interaction. However, low-cost MEMS inertial sensors' measurements are inevitably corrupted by various error sources, leading to unbounded drifts when integrated doubly in traditional inertial navigation algorithms, subjecting inertial positioning to the problem of error drifts. In recent years, with the rapid increase in sensor data and computational power, deep learning techniques have been developed, sparking significant research into addressing the problem of inertial positioning. Relevant literature in this field spans across mobile computing, robotics, and machine learning. In this article, we provide a comprehensive review of deep learning-based inertial positioning and its applications in tracking pedestrians, drones, vehicles, and robots. We connect efforts from different fields and discuss how deep learning can be applied to address issues such as sensor calibration, positioning error drift reduction, and multi-sensor fusion. This article aims to attract readers from various backgrounds, including researchers and practitioners interested in the potential of deep learning-based techniques to solve inertial positioning problems. Our review demonstrates the exciting possibilities that deep learning brings to the table and provides a roadmap for future research in this field.
Domain Randomization for Robust, Affordable and Effective Closed-loop Control of Soft Robots
Venue: arXiv cs.RO 2024
Year: 2024

Soft robots are gaining popularity thanks to their intrinsic safety to contacts and adaptability. However, the potentially infinite number of Degrees of Freedom makes their modeling a daunting task, and in many cases only an approximated description is available. This challenge makes reinforcement learning (RL) based approaches inefficient when deployed on a realistic scenario, due to the large domain gap between models and the real platform. In this work, we demonstrate, for the first time, how Domain Randomization (DR) can solve this problem by enhancing RL policies for soft robots with: i) robustness w.r.t. unknown dynamics parameters; ii) reduced training times by exploiting drastically simpler dynamic models for learning; iii) better environment exploration, which can lead to exploitation of environmental constraints for optimal performance. Moreover, we introduce a novel algorithmic extension to previous adaptive domain randomization methods for the automatic inference of dynamics parameters for deformable objects. We provide an extensive evaluation in simulation on four different tasks and two soft robot designs, opening interesting perspectives for future research on Reinforcement Learning for closed-loop soft robot control.
Fourier-MIONet: Fourier-enhanced multiple-input neural operators for multiphase modeling of geological carbon sequestration
Venue: arXiv cs.LG 2024
Year: 2024

Geologic carbon sequestration (GCS) is a safety-critical technology that aims to reduce the amount of carbon dioxide in the atmosphere, which also places high demands on reliability. Multiphase flow in porous media is essential to understand CO$_2$ migration and pressure fields in the subsurface associated with GCS. However, numerical simulation for such problems in 4D is computationally challenging and expensive, due to the multiphysics and multiscale nature of the highly nonlinear governing partial differential equations (PDEs). It prevents us from considering multiple subsurface scenarios and conducting real-time optimization. Here, we develop a Fourier-enhanced multiple-input neural operator (Fourier-MIONet) to learn the solution operator of the problem of multiphase flow in porous media. Fourier-MIONet utilizes the recently developed framework of the multiple-input deep neural operators (MIONet) and incorporates the Fourier neural operator (FNO) in the network architecture. Once Fourier-MIONet is trained, it can predict the evolution of saturation and pressure of the multiphase flow under various reservoir conditions, such as permeability and porosity heterogeneity, anisotropy, injection configurations, and multiphase flow properties. Compared to the enhanced FNO (U-FNO), the proposed Fourier-MIONet has 90% fewer unknown parameters, and it can be trained in significantly less time (about 3.5 times faster) with much lower CPU memory ($<$ 15%) and GPU memory ($<$ 35%) requirements, to achieve similar prediction accuracy. In addition to the lower computational cost, Fourier-MIONet can be trained with only 6 snapshots of time to predict the PDE solutions for 30 years. The excellent generalizability of Fourier-MIONet is enabled by its adherence to the physical principle that the solution to a PDE is continuous over time.